Design and Control of a 2-DOF Force-Reflection Joystick for Simulation Systems

• Main Authors: Wei-Ching Lin, 林瑋慶
• Other Authors: Kuu-Young Young
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/71833136825728989619

碩士 === 國立交通大學 === 電機與控制工程系 === 90 === The interaction between the user and a virtual reality dynamic simulation system can be much enhanced by the haptic devices, which provide two-way communication in position and force. The force-reflection joystick is a typical haptic device. We use it to manipulate the objects in the virtual environment, and also emerge into the activities among the virtual objects. In this thesis, we first discuss the important issues in developing a force-reflection joystick, including the design concept, hardware structure, manipulativity, system analysis, and signal. Based on the discussions, we design a 2-DOF force-reflection joystick, which is with high precision, bandwidth, and output torque. Since the joystick is intended for simulation system in the experiments, we first use it to generate the feeling of touching the spring, damper, and mass. More complex feeling can then be generated by synthesizing these three basic properties. We also use the joystick and software to construct the “virtual wall”. As a novel concept, we propose a method to assemble the virtual walls. With a set of virtual walls properly arranged, they can form certain virtual motion constraints, and thus emulate various virtual mechanisms, such as the gearshift box.